327 citations · 1.3k across the 66 of their papers we have counts for
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cs.RO2013★ 173 cited
An Efficiently Solvable Quadratic Program for Stabilizing Dynamic Locomotion
Scott Kuindersma, Frank Permenter, Russ Tedrake
We describe a whole-body dynamic walking controller implemented as a convex quadratic program. The controller solves an optimal control problem using an approximate value function…
cs.RO2013★ 7 cited
Technical Report: Convex Optimization of Nonlinear Feedback Controllers via Occupation Measures
Anirudha Majumdar, Ram Vasudevan, Mark M. Tobenkin +1
In this paper, we present an approach for designing feedback controllers for polynomial systems that maximize the size of the time-limited backwards reachable set (BRS). We rely on…